@inproceedings{ahlrichs1999knowledge,
	pages = {21-47},
	year = {1999},
	booktitle = {Integration of Speech and Image Understanding},
	author = {Ulrike Ahlrichs and Fischer, J. and Joachim Denzler and Christopher Drexler and Heinrich Niemann and Elmar Nöth and Dietrich Paulus},
	title = {Knowledge Based Image and Speech Analysis for Service Robots},
}